/* Siconos is a program dedicated to modeling, simulation and control
 * of non smooth dynamical systems.
 *
 * Copyright 2024 INRIA.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef rolling_fc3d_compute_error_H
#define rolling_fc3d_compute_error_H

/*!\file rolling_fc3d_compute_error.h
  \brief functions related to error computation for friction-contact problems

*/

#include "NumericsFwd.h"    // for RollingFrictionContactProblem, SolverOptions
#include "SiconosConfig.h"  // for BUILD_AS_CPP // IWYU pragma: keep

#if defined(__cplusplus) && !defined(BUILD_AS_CPP)
extern "C" {
#endif

/** Error computation (using the normal map residual) for rolling friction-contact 2D problem
    \param problem the structure which defines the friction-contact problem
    \param z vector
    \param w vector
    \param tolerance value for error computation
    \param options
    \param norm norm of a vector (problem->q) for relative error
    \param[in,out] error value
    \return 0 if ok
 */
int rolling_fc2d_compute_error(RollingFrictionContactProblem *problem, double *z, double *w,
                               double tolerance, SolverOptions *options, double norm,
                               double *error);

/** Error computation (using the normal map residual) for one rolling friction-contact 2D
   problem \param r the reaction force \param u the local velocity \param mu coeficient of
   friction \param worktmp work vector \param[in,out] error value
 */
void rolling_fc2d_unitary_compute_and_add_error(double r[3], double u[3], double mu,
                                                double mur, double *error, double *worktmp);

#if defined(__cplusplus) && !defined(BUILD_AS_CPP)
}
#endif

#endif
